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An automatic switching approach to teleoperation of mobile-manipulator systems using virtual fixtures

Published online by Cambridge University Press:  08 August 2016

M. R. Wrock  and
S. B. Nokleby
M. R. Wrock
Affiliation:
Mechatronic and Robotic Systems Laboratory, Institute of Technology, University of Ontario, Oshawa, Canada. E-mail: michael.wrock@uoit.ca
S. B. Nokleby*
Affiliation:
Mechatronic and Robotic Systems Laboratory, Institute of Technology, University of Ontario, Oshawa, Canada. E-mail: michael.wrock@uoit.ca
*
*Corresponding author. E-mail: scott.nokleby@uoit.ca
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Summary

This work presents a novel command strategy developed to improve operator performance and minimize difficulties in teleoperation tasks for mobile-manipulator systems with a holonomic base. Aimed specifically at novice operators, virtual fixtures are introduced as a means to minimize collisions and assist in navigation. Using the 6-degree-of-freedom (DOF) Omnibot mobile-manipulator system (MMS), a command strategy is implemented such that the operator need only control a 3-DOF haptic joystick to achieve full control of the Omnibot MMS. The command strategy is used to coordinate control between the arm and the base of the system, prevent collisions with known obstacles, and alert the operator of proximity to those obstacles with haptic forces. Through experimental testing it is shown that operator performance improved with the use of virtual fixtures.

Keywords

TeleoperationHapticsVirtual fixturesMobile manipulators
Type
Articles
Information
Robotica , Volume 35 , Issue 8 , August 2017 , pp. 1773 - 1792
Copyright
Copyright © Cambridge University Press 2016 

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